pilz_industrial_motion_planner Namespace Reference

Namespaces
	joint_limits_interface

Classes
class	CartesianLimit
	Set of cartesian limits, has values for velocity, acceleration and deceleration of both the translational and rotational part. More...
class	CartesianLimitsAggregator
	Obtains cartesian limits from the node parameters. More...
struct	CartesianTrajectory
struct	CartesianTrajectoryPoint
class	CommandListManager
	This class orchestrates the planning of single commands and command lists. More...
class	JointLimitsAggregator
	Unifies the joint limits from the given joint models with joint limits from the node parameters. More...
class	AggregationException
	A base class for all aggregation exceptions inheriting from std::runtime_exception. More...
class	AggregationBoundsViolationException
class	JointLimitsContainer
	Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits. More...
class	JointLimitsValidator
	Validates the equality of all limits inside a container. More...
class	ValidationException
	A base class for all validations exceptions inheriting from std::runtime_exception. More...
class	ValidationJointMissingException
	Thrown the limits for a joint are defined in the urdf but not in the node parameters (loaded from yaml) More...
class	ValidationDifferentLimitsException
	Thrown when the limits differ. More...
class	ValidationBoundsViolationException
	Thrown when the limits from the param server are weaker than the ones obtained from the urdf. More...
class	LimitsContainer
	This class combines CartesianLimit and JointLimits into on single class. More...
class	MoveGroupSequenceAction
	Provide action to handle multiple trajectories and execute the result in the form of a MoveGroup capability (plugin). More...
class	MoveGroupSequenceService
	Provide service to blend multiple trajectories in the form of a MoveGroup capability (plugin). More...
class	PathCircleGenerator
	Generator class for KDL::Path_Circle from different circle representations. More...
class	CommandPlanner
	MoveIt Plugin for Planning with Standard Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inheriting from PlanningContextLoader. More...
class	PlanComponentsBuilder
	Helper class to encapsulate the merge and blend process of trajectories. More...
class	PlanningContextBase
	PlanningContext for obtaining trajectories. More...
class	PlanningContextCIRC
	PlanningContext for obtaining CIRC trajectories. More...
class	PlanningContextLIN
	PlanningContext for obtaining LIN trajectories. More...
class	PlanningContextLoader
	Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor, classes derived from it can not be plugins. This class serves as base class for wrappers. More...
class	PlanningContextLoaderCIRC
	Plugin that can generate instances of PlanningContextCIRC. Generates instances of PlanningContextLIN. More...
class	PlanningContextLoaderLIN
	Plugin that can generate instances of PlanningContextLIN. Generates instances of PlanningContextLIN. More...
class	PlanningContextLoaderPTP
	Plugin that can generate instances of PlanningContextPTP. Generates instances of PlanningContextPTP. More...
class	PlanningContextPTP
	PlanningContext for obtaining PTP trajectories. More...
class	PlanningException
	A base class for all pilz_industrial_motion_planner exceptions inheriting from std::runtime_exception. More...
class	ContextLoaderRegistrationException
struct	TrajectoryBlendRequest
struct	TrajectoryBlendResponse
class	TrajectoryBlender
	Base class of trajectory blenders. More...
class	TrajectoryBlenderTransitionWindow
	Trajectory blender implementing transition window algorithm. More...
class	MoveItErrorCodeException
	Exception storing an moveit_msgs::msg::MoveItErrorCodes value. More...
class	TemplatedMoveItErrorCodeException
class	TrajectoryGenerator
	Base class of trajectory generators. More...
class	TrajectoryGeneratorCIRC
	This class implements a trajectory generator of arcs in Cartesian space. The arc is specified by a start pose, a goal pose and a interim point on the arc, or a point as the center of the circle which forms the arc. Complete circle is not covered by this generator. More...
class	TrajectoryGeneratorLIN
	This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile. More...
class	TrajectoryGeneratorPTP
	This class implements a point-to-point trajectory generator based on VelocityProfileATrap. More...
class	VelocityProfileATrap
	A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile. Differences to VelocityProfile_Trap: More...
class	GetSolverTipFrameIntegrationTest
class	SolverMock
class	JointModelGroupMock
class	GetSolverTipFrameTest
	Test fixture for getSolverTipFrame tests. More...

Typedefs
using	RobotTrajCont = std::vector< robot_trajectory::RobotTrajectoryPtr >
typedef joint_limits_interface::JointLimits	JointLimit
typedef std::map< std::string, JointLimit >	JointLimitsMap
using	MoveGroupSequenceGoalHandle = rclcpp_action::ServerGoalHandle< moveit_msgs::action::MoveGroupSequence >
using	TipFrameFunc_t = std::function< const std::string &(const std::string &)>
typedef std::shared_ptr< PlanningContextLoader >	PlanningContextLoaderPtr
typedef std::shared_ptr< const PlanningContextLoader >	PlanningContextLoaderConstPtr
typedef std::shared_ptr< PlanningContextLoaderCIRC >	PlanningContextLoaderCIRCPtr
typedef std::shared_ptr< const PlanningContextLoaderCIRC >	PlanningContextLoaderCIRCConstPtr
typedef std::shared_ptr< PlanningContextLoaderLIN >	PlanningContextLoaderLINPtr
typedef std::shared_ptr< const PlanningContextLoaderLIN >	PlanningContextLoaderLINConstPtr
typedef std::shared_ptr< PlanningContextLoaderPTP >	PlanningContextLoaderPTPPtr
typedef std::shared_ptr< const PlanningContextLoaderPTP >	PlanningContextLoaderPTPConstPtr
typedef std::unique_ptr< TrajectoryBlender >	TrajectoryBlenderUniquePtr

Functions
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NegativeBlendRadiusException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LastBlendRadiusNotZeroException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (StartStateSetException, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (OverlappingBlendRadiiException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PlanningPipelineException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	MOVEIT_CLASS_FORWARD (CommandPlanner)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoBlenderSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoTipFrameFunctionSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoRobotModelSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (BlendingFailedException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	MOVEIT_CLASS_FORWARD (PlanningContext)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoSolverException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (MoreThanOneTipFrameException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
bool	computePoseIK (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::string &link_name, const Eigen::Isometry3d &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, const double timeout=0.0)
	compute the inverse kinematics of a given pose, also check robot self collision More...
bool	computePoseIK (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::string &link_name, const geometry_msgs::msg::Pose &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, const double timeout=0.0)
bool	computeLinkFK (moveit::core::RobotState &robot_state, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Isometry3d &pose)
	compute the pose of a link at a given robot state More...
bool	computeLinkFK (moveit::core::RobotState &robot_state, const std::string &link_name, const std::vector< std::string > &joint_names, const std::vector< double > &joint_positions, Eigen::Isometry3d &pose)
bool	verifySampleJointLimits (const std::map< std::string, double > &position_last, const std::map< std::string, double > &velocity_last, const std::map< std::string, double > &position_current, double duration_last, double duration_current, const JointLimitsContainer &joint_limits)
	verify the velocity/acceleration limits of current sample (based on backward difference computation) v(k) = [x(k) - x(k-1)]/[t(k) - t(k-1)] a(k) = [v(k) - v(k-1)]/[t(k) - t(k-2)]*2 More...
bool	generateJointTrajectory (const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const KDL::Trajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, const double &sampling_time, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision=false)
	Generate joint trajectory from a KDL Cartesian trajectory. More...
bool	generateJointTrajectory (const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const pilz_industrial_motion_planner::CartesianTrajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, const std::map< std::string, double > &initial_joint_velocity, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision=false)
	Generate joint trajectory from a MultiDOFJointTrajectory. More...
bool	determineAndCheckSamplingTime (const robot_trajectory::RobotTrajectoryPtr &first_trajectory, const robot_trajectory::RobotTrajectoryPtr &second_trajectory, double EPSILON, double &sampling_time)
	Determines the sampling time and checks that both trajectroies use the same sampling time. More...
bool	isRobotStateEqual (const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const std::string &joint_group_name, double epsilon)
	Check if the two robot states have the same joint position/velocity/acceleration. More...
bool	isRobotStateStationary (const moveit::core::RobotState &state, const std::string &group, double EPSILON)
	check if the robot state have zero velocity/acceleration More...
bool	linearSearchIntersectionPoint (const std::string &link_name, const Eigen::Vector3d &center_position, const double &r, const robot_trajectory::RobotTrajectoryPtr &traj, bool inverseOrder, std::size_t &index)
	Performs a linear search for the intersection point of the trajectory with the blending radius. More...
bool	intersectionFound (const Eigen::Vector3d &p_center, const Eigen::Vector3d &p_current, const Eigen::Vector3d &p_next, const double &r)
bool	isStateColliding (const planning_scene::PlanningSceneConstPtr &scene, moveit::core::RobotState *state, const moveit::core::JointModelGroup *const group, const double *const ik_solution)
	Checks if current robot state is in self collision. More...
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (TrajectoryGeneratorInvalidLimitsException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (VelocityScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (AccelerationScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (UnknownPlanningGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoJointNamesInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (SizeMismatchInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointsOfStartStateOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NonZeroVelocityInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NotExactlyOneGoalConstraintGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (OnlyOneGoalTypeAllowed, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (StartStateGoalStateMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointConstraintDoesNotBelongToGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointsOfGoalOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PositionConstraintNameMissing, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (OrientationConstraintNameMissing, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PositionOrientationConstraintNameMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoIKSolverAvailable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoPrimitivePoseGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircleNoPlane, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircleToSmall, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CenterPointDifferentRadius, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (UnknownPathConstraintName, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoPositionConstraints, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoPrimitivePose, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (UnknownLinkNameOfAuxiliaryPoint, moveit_msgs::msg::MoveItErrorCodes::INVALID_LINK_NAME)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NumberOfConstraintsMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PtpVelocityProfileSyncFailed, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PtpNoIkSolutionForGoalPose, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
std::ostream &	operator<< (std::ostream &os, const VelocityProfileATrap &p)
	TEST_F (GetSolverTipFrameIntegrationTest, TestHasSolverManipulator)
	Check if hasSolver() can be called successfully for the manipulator group. More...
	TEST_F (GetSolverTipFrameIntegrationTest, TestHasSolverGripperGroup)
	Check if hasSolver() can be called successfully for the gripper group. More...
	TEST_F (GetSolverTipFrameIntegrationTest, TestGetTipSolverFrameManipulator)
	Check if getSolverTipFrame() can be called successfully for the manipulator group. More...
	TEST_F (GetSolverTipFrameIntegrationTest, TestGetTipSolverFrameGripper)
	Check if getSolverTipFrame() fails for gripper group. More...
	TEST_F (GetSolverTipFrameTest, TestExceptionErrorCodeMapping)
	Checks that each derived MoveItErrorCodeException contains the correct error code. More...
	TEST_F (GetSolverTipFrameTest, TestExceptionMoreThanOneTipFrame)
	Checks that an exceptions is thrown in case a group has more than one tip frame. More...
	TEST_F (GetSolverTipFrameTest, TestExceptionNoSolver)
	Checks that an exceptions is thrown in case a group does not possess a solver. More...
	TEST_F (GetSolverTipFrameTest, NullptrJointGroup)
	Checks that an exceptions is thrown in case a nullptr is specified as JointModelGroup. More...

Typedef Documentation

JointLimit

typedef joint_limits_interface::JointLimits pilz_industrial_motion_planner::JointLimit

Definition at line 65 of file joint_limits_extension.h.

JointLimitsMap

typedef std::map<std::string, JointLimit> pilz_industrial_motion_planner::JointLimitsMap

Definition at line 66 of file joint_limits_extension.h.

MoveGroupSequenceGoalHandle

using pilz_industrial_motion_planner::MoveGroupSequenceGoalHandle = typedef rclcpp_action::ServerGoalHandle<moveit_msgs::action::MoveGroupSequence>

Definition at line 47 of file move_group_sequence_action.h.

PlanningContextLoaderCIRCConstPtr

typedef std::shared_ptr<const PlanningContextLoaderCIRC> pilz_industrial_motion_planner::PlanningContextLoaderCIRCConstPtr

Definition at line 66 of file planning_context_loader_circ.h.

PlanningContextLoaderCIRCPtr

typedef std::shared_ptr<PlanningContextLoaderCIRC> pilz_industrial_motion_planner::PlanningContextLoaderCIRCPtr

Definition at line 65 of file planning_context_loader_circ.h.

PlanningContextLoaderConstPtr

typedef std::shared_ptr<const PlanningContextLoader> pilz_industrial_motion_planner::PlanningContextLoaderConstPtr

Definition at line 118 of file planning_context_loader.h.

PlanningContextLoaderLINConstPtr

typedef std::shared_ptr<const PlanningContextLoaderLIN> pilz_industrial_motion_planner::PlanningContextLoaderLINConstPtr

Definition at line 66 of file planning_context_loader_lin.h.

PlanningContextLoaderLINPtr

typedef std::shared_ptr<PlanningContextLoaderLIN> pilz_industrial_motion_planner::PlanningContextLoaderLINPtr

Definition at line 65 of file planning_context_loader_lin.h.

PlanningContextLoaderPTPConstPtr

typedef std::shared_ptr<const PlanningContextLoaderPTP> pilz_industrial_motion_planner::PlanningContextLoaderPTPConstPtr

Definition at line 66 of file planning_context_loader_ptp.h.

PlanningContextLoaderPTPPtr

typedef std::shared_ptr<PlanningContextLoaderPTP> pilz_industrial_motion_planner::PlanningContextLoaderPTPPtr

Definition at line 65 of file planning_context_loader_ptp.h.

PlanningContextLoaderPtr

typedef std::shared_ptr<PlanningContextLoader> pilz_industrial_motion_planner::PlanningContextLoaderPtr

Definition at line 117 of file planning_context_loader.h.

RobotTrajCont

using pilz_industrial_motion_planner::RobotTrajCont = typedef std::vector<robot_trajectory::RobotTrajectoryPtr>

Definition at line 53 of file command_list_manager.h.

TipFrameFunc_t

using pilz_industrial_motion_planner::TipFrameFunc_t = typedef std::function<const std::string&(const std::string&)>

Definition at line 51 of file plan_components_builder.h.

TrajectoryBlenderUniquePtr

typedef std::unique_ptr<TrajectoryBlender> pilz_industrial_motion_planner::TrajectoryBlenderUniquePtr

Definition at line 75 of file trajectory_blender.h.

Function Documentation

computeLinkFK() [1/2]

bool pilz_industrial_motion_planner::computeLinkFK	(	moveit::core::RobotState &	robot_state,
		const std::string &	link_name,
		const std::map< std::string, double > &	joint_state,
		Eigen::Isometry3d &	pose
	)

compute the pose of a link at a given robot state

Parameters

robot_state	an arbitrary robot state (with collision objects attached)
link_name	target link name
joint_state	joint positions of this group
pose	pose of the link in base frame of robot model

Returns

true if succeed

Definition at line 116 of file trajectory_functions.cpp.

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computeLinkFK() [2/2]

bool pilz_industrial_motion_planner::computeLinkFK	(	moveit::core::RobotState &	robot_state,
		const std::string &	link_name,
		const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_positions,
		Eigen::Isometry3d &	pose
	)

computePoseIK() [1/2]

bool pilz_industrial_motion_planner::computePoseIK	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group_name,
		const std::string &	link_name,
		const Eigen::Isometry3d &	pose,
		const std::string &	frame_id,
		const std::map< std::string, double > &	seed,
		std::map< std::string, double > &	solution,
		bool	check_self_collision = true,
		const double	timeout = 0.0
	)

compute the inverse kinematics of a given pose, also check robot self collision

Parameters

scene	planning scene
group_name	name of planning group
link_name	name of target link
pose	target pose in IK solver Frame
frame_id	reference frame of the target pose
seed	seed state of IK solver
solution	solution of IK
check_self_collision	true to enable self collision checking after IK computation
timeout	timeout for IK, if not set the default solver timeout is used

Returns

true if succeed

Definition at line 48 of file trajectory_functions.cpp.

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computePoseIK() [2/2]

bool pilz_industrial_motion_planner::computePoseIK	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group_name,
		const std::string &	link_name,
		const geometry_msgs::msg::Pose &	pose,
		const std::string &	frame_id,
		const std::map< std::string, double > &	seed,
		std::map< std::string, double > &	solution,
		bool	check_self_collision = true,
		const double	timeout = 0.0
	)

Definition at line 103 of file trajectory_functions.cpp.

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CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [1/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	AccelerationScalingIncorrect	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [2/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	BlendingFailedException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [3/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CenterPointDifferentRadius	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [4/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircInverseForGoalIncalculable	,
		moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [5/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircleNoPlane	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [6/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircleToSmall	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [7/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircTrajectoryConversionFailure	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [8/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointConstraintDoesNotBelongToGroup	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [9/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointNumberMismatch	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [10/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointsOfGoalOutOfRange	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [11/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointsOfStartStateOutOfRange	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [12/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LastBlendRadiusNotZeroException	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [13/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LinInverseForGoalIncalculable	,
		moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [14/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LinTrajectoryConversionFailure	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [15/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	MoreThanOneTipFrameException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [16/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NegativeBlendRadiusException	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [17/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoBlenderSetException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [18/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoIKSolverAvailable	,
		moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [19/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoJointNamesInStartState	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [20/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NonZeroVelocityInStartState	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [21/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoPositionConstraints	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [22/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoPrimitivePose	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [23/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoPrimitivePoseGiven	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [24/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoRobotModelSetException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [25/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoSolverException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [26/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NotExactlyOneGoalConstraintGiven	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [27/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoTipFrameFunctionSetException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [28/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NumberOfConstraintsMismatch	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [29/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	OnlyOneGoalTypeAllowed	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [30/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	OrientationConstraintNameMissing	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [31/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	OverlappingBlendRadiiException	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [32/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PlanningPipelineException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [33/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PositionConstraintNameMissing	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [34/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PositionOrientationConstraintNameMismatch	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [35/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PtpNoIkSolutionForGoalPose	,
		moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [36/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PtpVelocityProfileSyncFailed	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [37/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	SizeMismatchInStartState	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [38/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	StartStateGoalStateMismatch	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [39/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	StartStateSetException	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [40/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	TrajectoryGeneratorInvalidLimitsException	,
		moveit_msgs::msg::MoveItErrorCodes::FAILURE
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [41/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	UnknownLinkNameOfAuxiliaryPoint	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_LINK_NAME
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [42/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	UnknownPathConstraintName	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [43/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	UnknownPlanningGroup	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME
	)

CREATE_MOVEIT_ERROR_CODE_EXCEPTION() [44/44]

pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	VelocityScalingIncorrect	,
		moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

determineAndCheckSamplingTime()

bool pilz_industrial_motion_planner::determineAndCheckSamplingTime	(	const robot_trajectory::RobotTrajectoryPtr &	first_trajectory,
		const robot_trajectory::RobotTrajectoryPtr &	second_trajectory,
		double	EPSILON,
		double &	sampling_time
	)

Determines the sampling time and checks that both trajectroies use the same sampling time.

Returns

TRUE if the sampling time is equal between all given points (except the last two points of each trajectory), otherwise FALSE.

Definition at line 411 of file trajectory_functions.cpp.

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generateJointTrajectory() [1/2]

bool pilz_industrial_motion_planner::generateJointTrajectory	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const JointLimitsContainer &	joint_limits,
		const KDL::Trajectory &	trajectory,
		const std::string &	group_name,
		const std::string &	link_name,
		const std::map< std::string, double > &	initial_joint_position,
		const double &	sampling_time,
		trajectory_msgs::msg::JointTrajectory &	joint_trajectory,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		bool	check_self_collision = false
	)

Generate joint trajectory from a KDL Cartesian trajectory.

Parameters

scene	planning scene
joint_limits	joint limits
trajectory	KDL Cartesian trajectory
group_name	name of the planning group
link_name	name of the target robot link
initial_joint_position	initial joint positions, needed for selecting the ik solution
sampling_time	sampling time of the generated trajectory
joint_trajectory	output as robot joint trajectory, first and last point will have zero velocity and acceleration
error_code	detailed error information
check_self_collision	check for self collision during creation

Returns

true if succeed

Definition at line 197 of file trajectory_functions.cpp.

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generateJointTrajectory() [2/2]

bool pilz_industrial_motion_planner::generateJointTrajectory	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const JointLimitsContainer &	joint_limits,
		const pilz_industrial_motion_planner::CartesianTrajectory &	trajectory,
		const std::string &	group_name,
		const std::string &	link_name,
		const std::map< std::string, double > &	initial_joint_position,
		const std::map< std::string, double > &	initial_joint_velocity,
		trajectory_msgs::msg::JointTrajectory &	joint_trajectory,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		bool	check_self_collision = false
	)

Generate joint trajectory from a MultiDOFJointTrajectory.

Parameters

scene	planning scene
trajectory	Cartesian trajectory
info	motion plan information
sampling_time
joint_trajectory
error_code

Returns

true if succeed

Definition at line 314 of file trajectory_functions.cpp.

intersectionFound()

bool pilz_industrial_motion_planner::intersectionFound	(	const Eigen::Vector3d &	p_center,
		const Eigen::Vector3d &	p_current,
		const Eigen::Vector3d &	p_next,
		const double &	r
	)

Definition at line 562 of file trajectory_functions.cpp.

isRobotStateEqual()

bool pilz_industrial_motion_planner::isRobotStateEqual	(	const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2,
		const std::string &	joint_group_name,
		double	epsilon
	)

Check if the two robot states have the same joint position/velocity/acceleration.

Parameters

joint_group_name	The name of the joint group.
epsilon	Constants defining how close the joint position/velocity/acceleration have to be to be recognized as equal.

Returns

True if joint positions, joint velocities and joint accelerations are equal, otherwise false.

Definition at line 462 of file trajectory_functions.cpp.

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isRobotStateStationary()

bool pilz_industrial_motion_planner::isRobotStateStationary	(	const moveit::core::RobotState &	state,
		const std::string &	group,
		double	EPSILON
	)

check if the robot state have zero velocity/acceleration

Parameters

state
group
EPSILON

Returns

Definition at line 505 of file trajectory_functions.cpp.

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isStateColliding()

bool pilz_industrial_motion_planner::isStateColliding	(	const planning_scene::PlanningSceneConstPtr &	scene,
		moveit::core::RobotState *	state,
		const moveit::core::JointModelGroup *const	group,
		const double *const	ik_solution
	)

Checks if current robot state is in self collision.

Parameters

scene	planning scene.
test_for_self_collision	Flag to deactivate this check during IK.
robot_model	robot kinematics model.
state	Robot state instance used for .
group
ik_solution

Returns

Definition at line 569 of file trajectory_functions.cpp.

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linearSearchIntersectionPoint()

bool pilz_industrial_motion_planner::linearSearchIntersectionPoint	(	const std::string &	link_name,
		const Eigen::Vector3d &	center_position,
		const double &	r,
		const robot_trajectory::RobotTrajectoryPtr &	traj,
		bool	inverseOrder,
		std::size_t &	index
	)

Performs a linear search for the intersection point of the trajectory with the blending radius.

Parameters

center_position	Center of blending sphere.
r	Radius of blending sphere.
traj	The trajectory.
inverseOrder	TRUE: Farthest element from blending sphere center is located at the smallest index of trajectroy.
index	The intersection index which has to be determined.

Definition at line 524 of file trajectory_functions.cpp.

MOVEIT_CLASS_FORWARD() [1/2]

pilz_industrial_motion_planner::MOVEIT_CLASS_FORWARD

(

CommandPlanner

)

MOVEIT_CLASS_FORWARD() [2/2]

pilz_industrial_motion_planner::MOVEIT_CLASS_FORWARD

(

PlanningContext

)

operator<<()

std::ostream & pilz_industrial_motion_planner::operator<<	(	std::ostream &	os,
		const VelocityProfileATrap &	p
	)

Definition at line 397 of file velocity_profile_atrap.cpp.

TEST_F() [1/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameIntegrationTest	,
		TestGetTipSolverFrameGripper
	)

Check if getSolverTipFrame() fails for gripper group.

Definition at line 101 of file integrationtest_get_solver_tip_frame.cpp.

TEST_F() [2/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameIntegrationTest	,
		TestGetTipSolverFrameManipulator
	)

Check if getSolverTipFrame() can be called successfully for the manipulator group.

Definition at line 93 of file integrationtest_get_solver_tip_frame.cpp.

TEST_F() [3/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameIntegrationTest	,
		TestHasSolverGripperGroup
	)

Check if hasSolver() can be called successfully for the gripper group.

Definition at line 84 of file integrationtest_get_solver_tip_frame.cpp.

TEST_F() [4/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameIntegrationTest	,
		TestHasSolverManipulator
	)

Check if hasSolver() can be called successfully for the manipulator group.

Definition at line 76 of file integrationtest_get_solver_tip_frame.cpp.

TEST_F() [5/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameTest	,
		NullptrJointGroup
	)

Checks that an exceptions is thrown in case a nullptr is specified as JointModelGroup.

Definition at line 132 of file unittest_get_solver_tip_frame.cpp.

TEST_F() [6/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameTest	,
		TestExceptionErrorCodeMapping
	)

Checks that each derived MoveItErrorCodeException contains the correct error code.

Definition at line 89 of file unittest_get_solver_tip_frame.cpp.

TEST_F() [7/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameTest	,
		TestExceptionMoreThanOneTipFrame
	)

Checks that an exceptions is thrown in case a group has more than one tip frame.

Definition at line 106 of file unittest_get_solver_tip_frame.cpp.

TEST_F() [8/8]

pilz_industrial_motion_planner::TEST_F	(	GetSolverTipFrameTest	,
		TestExceptionNoSolver
	)

Checks that an exceptions is thrown in case a group does not possess a solver.

Definition at line 121 of file unittest_get_solver_tip_frame.cpp.

verifySampleJointLimits()

bool pilz_industrial_motion_planner::verifySampleJointLimits	(	const std::map< std::string, double > &	position_last,
		const std::map< std::string, double > &	velocity_last,
		const std::map< std::string, double > &	position_current,
		double	duration_last,
		double	duration_current,
		const JointLimitsContainer &	joint_limits
	)

verify the velocity/acceleration limits of current sample (based on backward difference computation) v(k) = [x(k) - x(k-1)]/[t(k) - t(k-1)] a(k) = [v(k) - v(k-1)]/[t(k) - t(k-2)]*2

Parameters

position_last	position of last sample
velocity_last	velocity of last sample
position_current	position of current sample
duration_last	duration of last sample
duration_current	duration of current sample
joint_limits	joint limits

Returns

Definition at line 136 of file trajectory_functions.cpp.

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